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1、thealgorithmconvergedwithprobability1wasproved.Thirdly,mobilerobotpathplanningbasedonantcolonyalgorithmwasintensivelystudied.Wefocusedontheestablishmentofsimulationenvironmentandthemodel,thesimulationeffectanddeterminationoftheparametersofantcolonyalgorith
2、m.Joinedthechaosoperator,theperformanceofACSalgorithmisimproved.Simulationresultsshowthatchaoticantcolonyalgorithmnotonlyhasfastconvergencespeed,butalsohashighprecisionevenoncomplexmap.Atlast,twoaspectsofthehardwareplatformandsoftwareenvironmentofembeddeds
3、ystemwerestudied.TheoutputPWMoftheS3C6410accessedsteppingmotordriverchip,todriversteppermotorforthecontrolofrobotmovingdirection.Atthesametime,wetransplantedLinuxoperatingsystemanddesignedLinuxdevicedriverbasedontheARMplatform.KEYWORDS：mobilerobot;embedded
4、system;pathplanning;antcolonyalgorithm;PWM;devicedriverIV目錄第一章緒論.........................................................11.1課題研究的背景和意義.....................................................11.2國外研究現(xiàn)狀..........................................................
5、...51.3國內(nèi)研究現(xiàn)狀.............................................................71.4本文所做的工作...........................................................81.5論文組織結(jié)構(gòu).............................................................9第二章嵌入式系統(tǒng)介紹..............................
6、..................102.1嵌入式Linux文件系統(tǒng)....................................................10
2.1.1基于Flash的文件系統(tǒng)..............................................11
2.1.2基于RAM的文件系統(tǒng)..............................................12
2.1.3嵌入式rootfilesystem制作............
7、...............................132.2設(shè)備驅(qū)動程序............................................................152.2.1設(shè)備驅(qū)動的作用....................................................152.2.2驅(qū)動架構(gòu)..........................................................152.2.3高級字符驅(qū)動操作....
8、..............................................172.3ARM11時鐘體系與功能...................................................182.4本章小結(jié)...............................................................23第三章蟻群算法及其收斂性分析......
